The embodiment of the invention discloses a vehicle escape method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a virtual terminal point according to a starting point of a vehicle, a target lane, all obstacles and a preset search distance under the condition that the vehicle is in a blocked state; generating a sampling map based on a Frenet coordinate system according to the starting point, the virtual end point, the current lane width, the other lane widths and each lane line; determining an initial path based on a fast random search tree according to the starting point, the virtual terminal point and the obstacles in the sampling map; according to a starting point in the initial path, each initial de-trapping point in the initial path and each obstacle, determining a plurality of target de-trapping points; and according to the multiple target detrapping points, detrapping processing is performed on the vehicle. When the vehicle is in the blocked state, the multiple escape points can be flexibly determined, the reasonability of the escape points is improved, and the success rate of vehicle escape is improved.

    本公开实施例公开了一种车辆脱困方法、装置、电子设备和存储介质,该方法包括:在车辆处于阻塞状态的情况下,根据车辆的起始点、目标车道、各障碍物以及预设搜索距离,确定虚拟终点;根据起始点、虚拟终点、当前车道宽度、其他车道宽度以及各车道线,基于Frenet坐标系生成采样地图;根据采样地图中的起始点、虚拟终点以及各障碍物,基于快速随机搜索树确定初始路径;根据初始路径中的起始点、初始路径中的各初始脱困点以及各障碍物,确定多个目标脱困点;根据多个目标脱困点,对车辆执行脱困处理。本公开在车辆处于阻塞状态时,能够灵活的确定多个脱困点,提高脱困点的合理性,并且提高车辆脱困的成功率。


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    Title :

    Vehicle escape method and device, electronic equipment and storage medium


    Additional title:

    车辆脱困方法、装置、电子设备和存储介质


    Contributors:
    FANG YUANYANG (author) / CAI QISHENG (author)

    Publication date :

    2023-11-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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